JP2021053788A - Shot treatment device and shot treatment method - Google Patents

Abstract

To provide a shot treatment device and a shot treatment method capable of performing shot treatment by causing a nozzle to approach a work-piece while suppressing a collision between the nozzle and the work-piece.SOLUTION: A shot treatment device 1 for injecting a shot material toward a work-piece W from a nozzle 13 to perform shot treatment of the work-piece W includes: the nozzle 13; a nozzle movement mechanism 11 having the nozzle 13 fixed thereto to make a position and an attitude of the nozzle 13 with respect to the work-piece W changeable; and a three-dimensional information acquisition sensor 15 for three-dimensionally imaging the work-piece W provided within a treatment section S1 to acquire position attitude information of the work-piece W. It includes a pattern storage part for storing a reference movement pattern of the nozzle 13 when the work-piece W is set to a reference position and a reference attitude within the treatment section S1. Further, it includes a nozzle movement control part for controlling the nozzle movement mechanism 11 to move the nozzle 13 on the basis of the correctable reference movement pattern.SELECTED DRAWING: Figure 1

Description

The present invention relates to a shot processing apparatus and a shot processing method.

Conventionally, shot blasting has been widely performed in which a shot material, which is a granular material, is made to collide with a work, which is an object to be processed, to process the work, for example, for the purpose of removing sand from a casting or shot peening.

In shot blasting, there are cases where it is desired to perform shot processing only in places where work is required.
For example, Patent Document 1 describes a work conveyor on which a work is placed and conveyed, an image pickup device provided above the work conveyor for imaging the contour of the work, and a shot toward the work provided above the work conveyor. A shot blast injection nozzle that injects blast, a program creation means that creates a relative movement program between the work and the shot blast injection nozzle based on the contour of the work imaged by the imaging device, and a program created by this program creation means. Discloses a deburring method and an apparatus thereof, which comprises a moving driving means for relatively moving a work and a shot blast injection nozzle.
More specifically, in the deburring device of Patent Document 1, the contour line of the work is determined based on the image captured from one direction by the image pickup device, and the nozzle is moved along the contour line.

Japanese Unexamined Patent Publication No. 8-90417

Since the shot material is ejected radially from the tip of the nozzle, the range of the work surface to be shot increases as the tip of the nozzle moves away from the work. Therefore, when the shot processing is to be performed only on the portion where the work is required as described above, it is necessary to position the tip of the nozzle close to the portion of the workpiece.
Here, in the above-mentioned Patent Document 1, the movement path of the nozzle is determined based on the two-dimensional information acquired from one direction by the image pickup apparatus. Therefore, in the linear direction connecting the image pickup device and the work, when the work is tilted toward the image pickup device side or the work is installed at a position shifted toward the image pickup device side, as described above. If the tip of the nozzle is brought close to the work, the nozzle may collide with the work and one or both of the nozzle and the work may be damaged.

An object to be solved by the present invention is to provide a shot processing apparatus and a shot processing method capable of performing shot processing by bringing the nozzle close to the work while suppressing collision between the nozzle and the work.

The present invention employs the following means in order to solve the above problems. That is, the present invention is a shot processing device that injects a shot material from a nozzle toward a work to perform a shot process on the work. The nozzle and the nozzle are fixed, and the position of the nozzle with respect to the work and the position of the nozzle with respect to the work. The work is provided with a nozzle moving mechanism capable of changing the posture and a three-dimensional information acquisition sensor that three-dimensionally images the work provided in the processing section and acquires the position / orientation information of the work. A pattern storage unit that stores the reference operation pattern of the nozzle when installed at the reference position and the reference posture in the processing section, a model data storage unit that stores the three-dimensional model data of the work, and the above. The position / orientation information acquired by the three-dimensional information acquisition sensor is compared with the reference position / orientation data when the three-dimensional model data is provided at the reference position in the reference orientation, and the reference position / orientation of the work is compared. The position / orientation displacement calculation unit that calculates the displacement of the position / orientation from the data, corrects the reference motion pattern of the nozzle based on the displacement of the position / orientation, and moves the nozzle based on the corrected reference motion pattern. Provided is a shot processing apparatus further including a nozzle movement control unit that controls a mechanism to move the nozzle.

Further, the present invention is a shot processing method in which a shot material is injected from a nozzle toward a work to perform shot processing on the work, when the work is installed at a reference position and a reference posture in a processing section. , The nozzle is fixed, and the reference operation pattern of the nozzle is stored by the nozzle moving mechanism capable of changing the position and orientation of the nozzle with respect to the work, and the three-dimensional model data of the work is stored. The position / orientation information of the work is acquired by a three-dimensional information acquisition sensor that three-dimensionally images the work provided in the above, and the position / orientation information acquired by the three-dimensional information acquisition sensor and the three-dimensional model data. Is compared with the reference position / orientation data when the reference position is provided in the reference position, the displacement of the position / orientation of the work from the reference position / orientation data is calculated, and based on the displacement of the position / orientation, Provided is a shot processing method in which the reference operation pattern of the nozzle is corrected, and the nozzle movement mechanism is controlled based on the corrected reference operation pattern to move the nozzle.

According to the present invention, it is possible to provide a shot processing apparatus and a shot processing method capable of performing shot processing by bringing the nozzle close to the work while suppressing collision between the nozzle and the work.

It is a schematic side view of the shot processing apparatus in embodiment of this invention. It is a plan view of the vicinity of the cabinet of the shot processing apparatus, and is the cross-sectional view taken along the line AA of FIG. It is a perspective view of the work which is shot processed in the said shot processing apparatus. It is a side view of the nozzle moving mechanism provided in the said cabinet. (A) is a side view of the vicinity of the nozzle portion of the nozzle moving mechanism, and (b) is a plan view of the nozzle portion. It is sectional drawing of the nozzle provided in the nozzle part, and is the sectional view of BB of FIG. 5 (b). It is a block diagram of the said shot processing apparatus. It is explanatory drawing which shows the relationship between the hole of a work and the nozzle positioned with respect to the hole when a work is installed in a reference position and a reference posture. It is explanatory drawing which shows the relationship between the hole of a work and the nozzle positioned with respect to the hole when the work is installed deviated from the reference position. It is explanatory drawing which shows the relationship between the hole of a work and the nozzle positioned with respect to the hole in the case where a work is tilted and installed from a reference posture. FIG. 10 is an explanatory view for explaining the correction of the position and orientation of the nozzle in the case of FIG. 10, and is an enlarged view of the portion seen by the arrow C in FIG. It is a flowchart of the shot processing method using the said shot processing apparatus.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a schematic side view of the shot processing apparatus according to the embodiment of the present invention. FIG. 2 is a plan view of the vicinity of the cabinet of the shot processing apparatus, and is a cross-sectional view taken along the line AA of FIG.
The shot processing device 1 in the present embodiment injects a shot material from the nozzle 13 toward the work W to perform shot processing on the work W. More specifically, the shot processing apparatus 1 is used to remove the casting sand adhering to the work W produced by casting.
The shot processing device 1 includes a cabinet 2, a turntable 3, an air injection device 4, a valve stand unit 5, a shot circulation device 6, a nozzle moving mechanism 11, a nozzle unit 12 having a nozzle 13, a three-dimensional information acquisition sensor 15, and a control device. 16 and an input device 17 are provided.

The shot processing is performed in the cabinet 2. In the present embodiment, the cabinet 2 is formed as a chamber having a substantially rectangular parallelepiped outer shell. The first wall 2a, which is one wall of the cabinet 2, is opened to the outside, and a turntable 3 described below is provided so as to close the opening.

The turntable 3 is a table-shaped member formed in a substantially circular shape, and is rotatably provided in a horizontal plane so that one surface 3a is horizontal and the center of the substantially circular shape is a vertical axis C. It is configured.
On the turntable 3, the two partition walls 3b shown in FIG. 2 stand up vertically from the upper surface 3a so as to partition the space above the turntable 3 into two compartments S1 and S2 having substantially the same shape. Is formed in. In order to simplify the drawing, the partition wall 3b is omitted in FIG.
The turntable 3 stands still with one of the two compartments S1 and S2 facing the first wall 2a side of the cabinet 2 and the other facing the second wall 2b opposite to the first wall 2a. It is configured as follows. As shown in FIG. 2, the cabinet 2 is continuous from both ends of the first wall 2a to the partition wall 3b located on the first wall 2a side and forming the partition S2 on the first wall 2a side. A partition wall 2c is provided, and when the turntable 3 is stationary, the cabinet 2 is sealed by the partition wall 2c of the cabinet 2 and the partition wall 3b of the turntable 3. As a result, leakage of the shot material and the jet air during the shot processing inside the cabinet 2 to the outside is suppressed.

The worker M is located outside the first wall 2a of the cabinet 2 and installs the work W to be shot processed on the upper surface 3a of the turntable 3 in the installation section S2 which is the section on the first wall 2a side. To do. Then, the turntable 3 rotates 180 ° about the axis C, and the installed work W moves to the processing section S1 which is the section on the second wall 2b side.
The work W that has moved to the processing section S1 is shot-processed as will be described later. During this process, the worker M installs the work W to be processed next on the upper surface 3a of the turntable 3 of the installation section S2.
When the shot processing of the work W moved to the processing section S1 is completed, the turntable 3 further rotates 180 ° around the axis C. As a result, the shot-processed work W moves to the installation section S2, and at the same time, the work W installed by the worker M during the shot process moves into the processing section S1. When the shot processing device 1 shots the work W newly moved to the processing section S1, the worker M collects the work W that has been shot processed and moved to the installation section S2, and then shoots. The work W to be processed is installed in the installation section S2.
In this way, the installation of the work W, the shot processing, and the collection are repeated.

The injection device 4 includes a tank in which compressed air is filled or continuously supplied. Shot materials such as shots, grids, and cut wires are supplied to the tank by the shot circulation device 6 described later. A hose 4a is provided between the tank and the nozzle 13 that injects the shot material toward the work W, and the shot material is supplied to the nozzle 13 together with the compressed air by the hose 4a.
The hose 4a is provided with a valve 4b for adjusting the supply amount of the shot material.
The valve stand unit 5 controls the opening and closing of the valve 4b.

The shot circulation device 6 includes a conveyor 6a, a bucket elevator 6b, and a hopper 6c.
The shot material injected toward the work W falls to the floor 2d of the cabinet 2 after colliding with the work W. The conveyor 6a is provided on the floor 2d of the cabinet 2 and carries out the dropped shot material to the outside of the cabinet 2. The shot material carried out by the conveyor 6a is moved to the hopper 6c by the bucket elevator 6b and stored in the hopper 6c. The hopper 6c supplies the shot material to the injection device 4.
In this way, the shot material is circulated and used in the shot processing device 1.

Next, the target to be shot processed by the shot processing apparatus 1 in the present embodiment, that is, the work W will be described. FIG. 3 is a perspective view of the work W to be shot processed by the shot processing device 1.
In the present embodiment, the work W is a cylinder block of an internal combustion engine. In the present embodiment and FIG. 3, for the sake of simplicity, the work W will be described as having a substantially rectangular parallelepiped shape, but it goes without saying that the work W is not limited to this.
The work W is provided with a plurality of cylinder bores Wa through which the piston is inserted. Around each of these cylinder bores Wa, a plurality of holes Wb, which are conduits through which cooling water is flowed and circulated for the purpose of cooling the internal combustion engine, are provided. The hole Wb has, for example, an inner diameter of about 9 mm, and is provided so as to penetrate from one surface Wc of the work W to the surface Wd on the opposite side. As shown in FIGS. 1 and 2, at the time of shot processing, this surface Wc becomes the opposite surface Wc facing the nozzle 13, and the surface Wd on the opposite side faces the first wall 2a side of the cabinet 2. It is installed on the turntable 3 so as to have a side surface Wd.

A plurality of positioning members 3c are provided on the turntable 3 so that the work W is provided at a position within a certain range on the upper surface 3a of the turntable 3. It is desirable that the positioning member 3c is formed in a shape that conforms to the shape of the work W. In the present embodiment, since the work W is formed in a substantially rectangular parallelepiped shape, the positioning member 3c is formed in an L shape so as to correspond to the corner portion Wg thereof. In the positioning member 3c, each surface located inside the L-shape corresponds to the four corners Wg of the work W provided on the upper surface 3a, and each of the surfaces located in the vicinity of the corners Wg of the work W. It is provided so as to face the outside of the work W and surround the outside of the work W.
In the present embodiment, as described above, the work W is manually installed in the installation section S2 by the worker M. If the positioning member 3c is provided so as to be in close contact with the work W, this installation work becomes difficult. Therefore, the positioning member 3c is provided so that there is a gap between the work W and the positioning member 3c when the work W is installed. Therefore, the position, posture, that is, the installation angle of the work W processed in the processing section S1 is strictly always different within the range allowed by the above interval.

The shot processing device 1 of the present embodiment shots the wall surface of the work W as described above, particularly the inner wall surface of the hole Wb. Therefore, in the work W that is actually shot processed by the shot processing device 1, the surface other than the holes Wb has already been shot processed by another shot processing device. That is, the shot processing device 1 can be particularly preferably used as a post-processing of the shot processing by the general shot processing device for the shot processing inside the hole Wb, which is not easy to perform the shot processing by the general shot processing device. ..
As described above, the form of the nozzle moving mechanism 11 and the nozzle portion 12 of the shot processing device 1 for appropriately executing the shot processing of the hole Wb of the work W will be described below.

A nozzle portion 12 having a nozzle 13 is fixed to the nozzle moving mechanism 11, and the position and orientation of the nozzle 13 with respect to the work W can be changed.
FIG. 4 is a side view of the nozzle moving mechanism 11. FIG. 5A is a side view of the vicinity of the nozzle portion 12 of the nozzle moving mechanism 11, and FIG. 5B is a plan view of the nozzle portion 12. In the present embodiment, the nozzle moving mechanism 11 is an industrial robot having an articulated arm, such as a 6-axis robot or a 7-axis robot. The nozzle moving mechanism 11 includes a pedestal 11a, a base portion 11c, a long lower arm portion 11e, an upper arm portion 11g, and a tip arm portion 11i.

The pedestal 11a is fixed to a horizontally provided floor surface FL. The base portion 11c is provided on the pedestal 11a so as to be rotatable in a horizontal plane with respect to the pedestal 11a, centering on the first shaft portion 11b provided perpendicular to the floor surface FL.
The lower arm portion 11e is connected to the base portion 11c by a second shaft portion 11d having one end horizontally provided, and is supported by the base portion 11c. The lower arm portion 11e is rotatably provided with respect to the base portion 11c about the second shaft portion 11d.
One end of the upper arm portion 11g is connected to the other end of the lower arm portion 11e by a third shaft portion 11f provided orthogonal to the lower arm portion 11e. As a result, the upper arm portion 11g is rotatably provided with respect to the lower arm portion 11e about the third shaft portion 11f, and is supported by the lower arm portion 11e.
The tip arm portion 11i is connected to the other end of the upper arm portion 11g by a fourth shaft portion 11h provided orthogonal to the upper arm portion 11g. As a result, the tip arm portion 11i is rotatably provided with respect to the upper arm portion 11g about the fourth shaft portion 11h, and is supported by the upper arm portion 11g.
As shown in FIG. 5A, the tip arm portion 11i is provided with a nozzle portion 12 rotatably around the axis 11j of the tip arm portion 11i.

As described above, the nozzle moving mechanism 11 is configured to include an arm composed of a lower arm portion 11e, an upper arm portion 11g, and a tip arm portion 11i. The nozzle portion 12 is the position of the nozzle portion 12 with respect to the work W provided in the cabinet 2 by the rotation of the base portion 11c and the arm portions 11e, 11g, 11i at the shaft portions 11b, 11d, 11f, 11h, 11j. And the posture, that is, the angle is provided so as to be freely changeable.
Each shaft portion 11b, 11d, 11f, 11h, 11j is provided with a servomotor (not shown) capable of outputting the rotation angles of the base portion 11c, the arm portions 11e, 11g, 11i, and the nozzle portion 12. The output signals of these servomotors are transmitted to the control device 16 described later.
A jacket is attached to the nozzle moving mechanism 11 in order to suppress collision of shot materials scattered in the cabinet 2.

The nozzle portion 12 includes a nozzle 13 and a servomotor 14. In the present embodiment, the nozzle portion 12 includes one nozzle 13 formed in a long length and one servomotor 14.

FIG. 6 is a cross-sectional view of the nozzle 13, and is a cross-sectional view taken along the line BB of FIG. 5 (b). The nozzle 13 includes a cylindrical nozzle body 13a in which the tip 13b is closed, and a through hole 13d for communicating the cylindrical inner I and the outer O is provided on the side surface 13c of the tip 13b. More specifically, the tip 13b of the nozzle body 13a is closed by a tip wall surface 13e provided so as to be substantially orthogonal to the central axis ND of the nozzle body 13a. That is, the angle φ of the tip wall surface 13e with respect to the central axis ND of the nozzle 13 is approximately 90 °.
The end of the nozzle body 13a on the opposite side of the tip 13b is joined to the end of the hose 4a described above on the opposite side of the injection device 4. As a result, the shot material injected from the injection device 4 reaches the inside I of the nozzle body 13a via the hose 4a, then collides with and reflects on the tip wall surface 13e, and is injected from the through hole 13d to the outside O. To.

The tip wall surface 13e is provided so as to be substantially orthogonal to the central axis ND of the nozzle 13, but since the shot material moves inside I of the nozzle body 13a at high speed, the shot material is generally oblique due to the momentum. It is ejected to the forward OD. Therefore, when the nozzle 13 is inserted into the hole Wb of the work W, the shot material advances forward while diffusely reflecting on the inner wall of the hole Wb. Therefore, when the shot processing is performed in the hole Wb using such a nozzle 13, it is not necessary to insert the nozzle 13 all the way into the hole Wb.
In the present embodiment, the outer diameter of the nozzle 13 is about 7 mm, and the hole is inserted to a depth of about 150 mm while injecting a shot material into the hole Wb having an inner diameter of about 9 mm as described above. Shot processing of Wb. Therefore, the clearance between the hole Wb and the nozzle 13 is only about 2 mm.

The servomotor 14 rotates the nozzle 13 in the circumferential direction about the central axis ND. As a result, the position of the through hole 13d rotates in the circumferential direction, so that the shot material is injected in various directions centered on the central axis ND. The rotation angle of the servomotor 14 is transmitted to the control device 16.

The control device 16 is an information processing device such as a personal computer or a control panel. The input device 17 is, for example, a keyboard, a mouse, a touch panel, an operation button, or the like, which is provided corresponding to the control device 16.
The control device 16 is configured so that the amount of rotation in each of the shaft portions 11b, 11d, 11f, 11h, and 11j can be grasped by a servomotor or the like provided in each portion of the nozzle moving mechanism 11. As a result, the control device 16 can accurately grasp the current posture of the nozzle moving mechanism 11, that is, the spatial position and posture of the nozzle 13.
Similarly, the control device 16 is configured so that the rotation amount of the nozzle 13 can be grasped from the servomotor 14 of the nozzle unit 12. As a result, the control device 16 can grasp the position of the through hole 13d of the nozzle 13, that is, the injection direction of the shot material.

As described above, the work W installed on the turntable 3 is positioned to some extent by the positioning member 3c, but the work W is within the range of the interval provided between the work W and the positioning member 3c. There are variations in the position and posture of W.
Nevertheless, the shot processing device 1 inserts the nozzle 13 into the hole Wb of the work W to perform shot processing of the hole Wb. Further, as described above, a situation may occur in which the clearance between the hole Wb and the nozzle 13 is only about 2 mm. Therefore, when the control device 16 always arranges the nozzle 13 at a predetermined space position and inserts and moves it in a predetermined direction by the nozzle moving mechanism 11, the nozzle 13 collides with the inner wall of the hole Wb. Either or both of the nozzle 13 and the work W may be damaged. In order to suppress this, the control device 16 of the present embodiment grasps the position and posture in which the work W is installed by the three-dimensional information acquisition sensor 15, and adjusts the position and posture of the nozzle 13 based on this. To do.
Hereinafter, after explaining the three-dimensional information acquisition sensor 15, further detailed processing contents of the control device 16 will be described.

As shown in FIGS. 1 and 2, the three-dimensional information acquisition sensor 15 is mounted on the turntable 3 on the second wall 2b of the cabinet 2 opposite to the first wall 2a on which the turntable 3 is provided. It is provided at a height approximately equal to that of the installed work W. The three-dimensional information acquisition sensor 15 three-dimensionally images the work W provided in the processing section S1 to acquire the position / orientation information of the work W. The nozzle moving mechanism 11 is located on the first wall 2a and the second wall 2a of the cabinet 2 so as not to be located on the straight line L (see FIG. 2) connecting the work W and the three-dimensional information acquisition sensor 15 so as not to block the imaging. It is provided near the third wall 2e that connects the walls 2b in the horizontal direction.
The three-dimensional information acquisition sensor 15 includes a sensor main body 15a, a housing 15b, and a shutter 15c. The sensor body 15a is, for example, a camera, and performs imaging processing. The housing 15b houses the sensor body 15a inside and isolates the sensor body 15a from the outside, that is, the atmosphere inside the cabinet 2. An opening 15d is provided in the housing 15b, and the shutter 15c is provided so that the opening 15d can be opened and closed. The shutter 15c is provided so that the opening 15d is opened when the work W is imaged by the sensor body 15a. With such a configuration, at the time of imaging, the shutter 15c is opened and the sensor body 15a is in a state where the work W can be imaged through the opening 15d.

In the present embodiment, the three-dimensional information acquisition sensor 15 includes one sensor main body 15a and a projector (not shown) provided at a position different from the sensor main body 15a. This type of three-dimensional information acquisition sensor 15 projects a Gray code pattern or a phase shift pattern from a projector and captures the moment with the sensor body 15a, thereby performing triangulation with one sensor body 15a and one projector. Measures the object three-dimensionally.
The three-dimensional information acquisition sensor 15 is not limited to this, and may be of another form such as a type using a projector and two cameras.

FIG. 7 is a block diagram of the shot processing device 1. The control device 16 includes a model data storage unit 20, a position / attitude / displacement calculation unit 21, a pattern storage unit 22, and a nozzle movement control unit 23.

The model data storage unit 20 stores the three-dimensional model data of the work W.

The pattern storage unit 22 stores the reference operation pattern of the nozzle 13 when the work W is installed at the reference position and the reference posture in the processing section S1. FIG. 8 is an explanatory diagram showing the relationship between the holes Wb1 and Wb2 of the work W and the nozzle 13 positioned with respect to the hole Wb when the work W is installed at the reference position and the reference posture. For the sake of simplicity, the shot processing apparatus 1 describes a case where the shot processing is performed on the two holes Wb1 and Wb2 provided in the work W so as to be separated from each other in the horizontal direction.

The reference operation pattern of the nozzle 13 is an operation pattern of the nozzle moving mechanism 11 for shot processing all the holes Wb1 and Wb2 to be shot processed by the work W.
Shot processing positions P1 and P2 are set in each of the holes Wb1 and Wb2 corresponding to the holes Wb1 and Wb2 when the holes Wb1 and Wb2 are shot. The shot processing positions P1 and P2 are coordinate values at which the tip 13b of the nozzle 13 is located with reference to a predetermined origin coordinate in the three-dimensional space. Each of the shot processing positions P1 and P2 is on a straight line extending the central axis PCs of the holes Wb1 and Wb2 from the work W toward the side where the nozzle 13 is located in the three-dimensional space, that is, the processing section S1. Is set to.
Further, the posture angles A1 and A2 of the nozzle 13 at the shot processing positions P1 and P2 are set corresponding to each of the holes Wb1 and Wb2. The posture angles A1 and A2 are angles of the central axis ND of the nozzle 13 with respect to a predetermined straight line in the three-dimensional space. Regarding the posture angles A1 and A2 of the nozzle 13, when the tip 13b of the nozzle 13 is positioned at the shot processing positions P1 and P2, the central axis ND of the nozzle body 13a makes the central axis PC of the holes Wb1 and Wb2 the nozzle 13 Is set to coincide with a straight line extending toward the side where is located.

In the reference operation pattern, the shot processing positions P1 and P2 and the posture angles A1 and A2 of the nozzle 13 as described above are registered for the holes Wb1 and Wb2, respectively.
When the work W is installed in the processing section S1 on the turntable 3, the nozzle movement control unit 23, which will be described later, first places the nozzle 13 at the shot processing position P1 in order to perform shot processing on the hole Wb1. Position it so that the attitude angle A1 and the central axis ND of the nozzle body 13a coincide with each other. After that, the nozzle 13 is inserted into the hole Wb1 and a shot process is performed. When the position and orientation of the nozzle 13 are set as described above, the nozzle 13 does not come into contact with the inner wall of the hole Wb1 even if the nozzle 13 is inserted into the hole Wb1. When the shot processing in the hole Wb1 is completed, the nozzle movement control unit 23 removes the nozzle 13 from the hole Wb1, the tip 13b is located at the shot processing position P1, and the posture angle A1 and the central axis ND of the nozzle body 13a coincide with each other. After repositioning, the nozzle 13 is moved in the direction of the hole Wb2, and the tip 13b is positioned at the shot processing position P2 so that the posture angle A2 and the central axis ND of the nozzle body 13a coincide with each other. After that, the nozzle 13 is inserted into the hole Wb2 and a shot process is performed. When the shot processing in the hole Wb2 is completed, the nozzle movement control unit 23 removes the nozzle 13 from the hole Wb2 and separates it from the work W.

A series of operation patterns as described above is registered as a reference operation pattern for the work W. As described above, the reference operation pattern is constructed so as to perform shot processing inside the holes Wb1 and Wb2.
In the present embodiment, the reference operation pattern is a program created by teaching the nozzle moving mechanism 11 configured as an industrial robot via a teach pendant or the like (not shown).

When the nozzle moving mechanism 11 operates according to the reference operation pattern as described above, the work W is placed in a predetermined position, in a predetermined posture, and more specifically as a reference so that the nozzle 13 and the holes Wb1 and Wb2 do not collide with each other. It is necessary that the work W is installed in the same position and posture as when the operation pattern is created. The reference position and the reference posture in the processing section S1 refer to the predetermined position and the posture.
The reference position is, for example, the coordinate value BP shown in FIG. 8 which is located surrounded by the positioning member 3c in the three-dimensional space. The reference posture is the inclination angle of the straight line BA passing through the region surrounded by the positioning member 3c in the three-dimensional space. For example, in FIG. 8, a specific point of the work W, for example, a corner portion Wg located at the lower left in the figure coincides with the reference position BP as a reference point We, and is located on a specific side of the work W, for example, at the lower side in the figure. When the side Wf coincides with the reference posture BA as the reference side Wf, it can be said that the work W is installed at the reference position and the reference posture.
In this way, the reference position BP and the reference posture BA are set on the processing section S1, and the reference operation pattern is constructed for the work W installed in accordance with the reference position BP and the reference posture BA. ..

Next, the position / attitude displacement calculation unit 21 and the nozzle movement control unit 23 will be described. Here, first, each operation in the case shown as FIG. 9 will be described, and then the operation in the case shown in FIGS. 10 and 11 will be described.
FIG. 9 is an explanatory diagram showing the relationship between the holes Wb1 and Wb2 of the work W and the nozzles 13 positioned with respect to the holes Wb1 and Wb2 when the work W is installed so as to be displaced from the reference position BA. .. In FIG. 9, the work W is moving from the reference position BP in the upper right direction in the figure while maintaining the posture, that is, the inclination. More specifically, the work W is displaced from the reference position BP by a distance Dx in the right direction and a distance Dy in the upward direction in the drawing.

The three-dimensional information acquisition sensor 15 images the work W that is displaced and located as shown in FIG. 9, and transmits the position / orientation information to the position / attitude / displacement calculation unit 21. The position / attitude / displacement calculation unit 21 receives the position / attitude information in the state where the work W is currently installed from the three-dimensional information acquisition sensor 15. The position / attitude / displacement calculation unit 21 acquires the three-dimensional model data corresponding to the work W from the pattern storage unit 22, and creates the reference position / attitude data which is the data when the reference position BP is provided with the reference attitude BA. To do. The position-posture displacement calculation unit 21 calculates the position-posture displacement from the reference position-posture data of the work W by comparing the reference position-posture data with the received position-posture information.
In the case of FIG. 9, as the position from the reference position BP, the distances Dx, Dy and the directions of displacement of each are calculated. In this case, since the inclination of the work W is maintained, it is calculated that there is no displacement of the posture.

The above comparison can be performed, for example, by how much the feature points registered corresponding to the three-dimensional model data and the feature points extracted from the position / orientation information match. As the feature points, for example, in the cylinder block as shown in FIG. 3, the contour shape of the outer shape, the contour shape of the cylinder bore Wa, and the like can be adopted. For example, when these contour shapes are compared with the reference position / orientation data and the position / orientation information received from the three-dimensional information acquisition sensor 15, and the total length of the matching portions is higher than a predetermined threshold, the matching rate of these data is high. Can be determined to be high, and the position and orientation of the work W can be specified.
In this embodiment, the contour shape is extracted from the position / orientation information acquired by the three-dimensional information acquisition sensor 15 and compared three-dimensionally with the reference position / orientation data, that is, the three-dimensional model data. Therefore, for example, when a defect such as a defect occurs in the contour portion of the work W, this can be detected.

The position / orientation displacement calculation unit 21 transmits the calculated displacement of the position and orientation of the work W to the nozzle movement control unit 23.
Although the position / posture / displacement calculation unit 21 has been described as being provided in the control device 16 in the present embodiment, it corresponds to the position / posture / displacement calculation unit 21 as a processing system in the three-dimensional information acquisition sensor 15, for example. The function may be realized.

The nozzle movement control unit 23 receives the displacement of the position and attitude of the work W from the position / attitude displacement calculation unit 21. The nozzle movement control unit 23 corrects the reference operation pattern of the nozzle 13 based on this, and controls the nozzle movement mechanism 11 based on the corrected reference operation pattern to move the nozzle 13.
For example, in the case of the hole Wb1 of FIG. 9, the nozzle movement control unit 23 adds and corrects the shot processing position P1 of the hole Wb1 by the distances Dx and Dy in the corresponding directions, respectively, for the corrected shot processing. The position P1c is calculated.
Further, the nozzle movement control unit 23 also calculates the corrected posture angle A1c by adding and correcting the posture displacement with respect to the posture angle A1 with respect to the hole Wb1. In this case, since there is no displacement in the posture of the work W, the posture angle A1 is not corrected, and as a result, the posture angle A1 and the corrected posture angle A1c are the same.
Similarly, the nozzle movement control unit 23 calculates the corrected shot processing position P2c and the corrected posture angle A2c for the hole Wb2.

The nozzle movement control unit 23 replaces each of the shot processing positions P1 and P2 and the posture angles A1 and A2 in the reference operation pattern with the corrected shot processing positions P1c and P2c and the corrected posture angles A1c and A2c. By doing so, the reference operation pattern is corrected.
The nozzle movement control unit 23 operates the nozzle movement mechanism 11 according to the reference operation pattern corrected in this way, moves the nozzle 13, and shots the holes Wb1 and Wb2.
In this way, the nozzle movement control unit 23 corrects the spatial coordinate values P1 and P2 of the shot processing positions P1 and P2 and the posture angles A1 and A2 based on the displacement of the position and orientation of the work W, and sets the reference operation pattern. to correct. Therefore, the spatial coordinate values P1 and P2 of the nozzle 13 and the posture angles A1 and A2 are corrected so that the central axis ND of the nozzle 13 coincides with the central axis PC of the holes Wb1 and Wb2.

FIG. 10 is an explanatory diagram showing the relationship between the holes Wb1 and Wb2 of the work W and the nozzles 13 positioned with respect to the holes Wb1 and Wb2 when the work W is installed at an angle from the reference posture BA. is there. In FIG. 10, the work W is rotating clockwise in the figure. As a result, the work W is positioned so that the reference point We is displaced from the reference position BP by the distance Dx1 in the left direction and the distance Dy1 in the upward direction, and the reference side Wf is located by an angle θ from the reference posture BA. It is displaced and located.

In the case of FIG. 10, the position-posture displacement calculation unit 21 calculates the distances Dx1, Dy1, and the directions of their respective displacements as the positions from the reference position BP. Further, as the position from the reference posture BA, the inclination angle θ from the reference posture BA is calculated.
The position / orientation displacement calculation unit 21 transmits the calculated displacement of the position and orientation of the work W to the nozzle movement control unit 23.

The nozzle movement control unit 23 receives the displacement of the position and attitude of the work W from the position / attitude displacement calculation unit 21. The nozzle movement control unit 23 corrects the reference operation pattern of the nozzle 13 based on this, and controls the nozzle movement mechanism 11 based on the corrected reference operation pattern to move the nozzle 13.
For example, in the case of the hole Wb1 shown in FIGS. 10 and 11 as an enlarged view of the portion seen by the arrow C in FIG. 10, the nozzle movement control unit 23 has a distance Dx1 with respect to the shot processing position P1 of the hole Wb1. , Dy1 are added in the corresponding directions and corrected, and the corrected shot processing position P1c is calculated.
Further, the nozzle movement control unit 23 calculates the corrected posture angle A1c obtained by adding and correcting the angle θ in the corresponding direction with respect to the posture angle A1 with respect to the hole Wb1.
Similarly, the nozzle movement control unit 23 calculates the corrected shot processing position P2c and the corrected posture angle A2c for the hole Wb2.

The nozzle movement control unit 23 replaces each of the shot processing positions P1 and P2 and the posture angles A1 and A2 in the reference operation pattern with the corrected shot processing positions P1c and P2c and the corrected posture angles A1c and A2c. By doing so, the reference operation pattern is corrected.
The nozzle movement control unit 23 operates the nozzle movement mechanism 11 according to the reference operation pattern corrected in this way, moves the nozzle 13, and shots the holes Wb1 and Wb2.
As described above, even in the case as shown in FIG. 10, the nozzle movement control unit 23 has the spatial coordinate values P1 and P2 of the shot processing positions P1 and P2 and the posture angle A1 based on the displacement of the position and orientation of the work W. A2 is corrected and the reference operation pattern is corrected. Therefore, the spatial coordinate values P1 and P2 of the nozzle 13 and the posture angles A1 and A2 are corrected so that the central axis ND of the nozzle 13 coincides with the central axis PC of the holes Wb1 and Wb2.

In the present embodiment, the shot processing device 1 is configured to be capable of shot processing of a plurality of types of work W. More specifically, the reference operation pattern and the three-dimensional model data are constructed corresponding to each of the plurality of types of work W, and these are stored in the pattern storage unit 22 and the model data storage unit 20, respectively. ..
Further, different processing conditions are registered in the control device 16 corresponding to each of the plurality of work Ws. The processing conditions are parameters and the like when shot processing is performed on the work W. The processing conditions include, for example, the insertion speed of the nozzle 13 into the holes Wb, the time to perform shot processing for each hole Wb, the rotation speed of the nozzle 13 by the servomotor 14, the injection amount of the shot material from the nozzle 13, and three dimensions. The operation setting of the information acquisition sensor 15 and the like can be considered.

In such a configuration, the input device 17 receives an input from the worker M regarding the type of the work W that is currently the target of the shot processing among the plurality of types of the work W.
The input information is transmitted to the control device 16, and the reference operation pattern and the three-dimensional model data corresponding to the work W are acquired from each of the pattern storage unit 22 and the model data storage unit 20 to perform the above processing. used.
In the control device 16, various processing conditions corresponding to the work W are further acquired and applied as parameters at the time of shot processing.

Next, a shot processing method using the above-mentioned shot processing apparatus will be described with reference to FIGS. 1 to 11 and 12. In particular, here, the operation of the turntable 3, the nozzle moving mechanism 11, and the three-dimensional information acquisition sensor 15 in the cabinet 2 and the processing in the control device 16 will be mainly described. FIG. 12 is a flowchart of the shot processing method in the present embodiment.

When the process is started (step S1), the worker M installs the work W to be shot processed on the upper surface 3a of the turntable 3 in the installation section S2 (step S3).
Then, the turntable 3 rotates 180 ° about the axis C, and the installed work W moves to the processing section S1 which is the section on the second wall 2b side (step S5). At this time, the nozzle moving mechanism 11 is in a position and posture in which each part of the nozzle moving mechanism 11 including the nozzle portion 12 does not interfere with the rotation of the turntable 3 and the work W installed on the turntable 3.
While the work W moved to the processing section S1 is shot processed, the worker M installs the work W to be processed next on the upper surface 3a of the turntable 3 of the installation section S2.
In this way, the installation of the work W and the shot processing are repeated in parallel.

When the work W moves to the processing section S1, the three-dimensional information acquisition sensor 15 images the work W (step S7). More specifically, after the shutter 15c is opened and the opening 15d is opened, the sensor body 15a images the work W through the opening 15d, and then the shutter 15c is closed and the opening 15d is closed. Will be done.
The three-dimensional information acquisition sensor 15 acquires the position / orientation information of the work W by imaging the work W and transmits it to the position / attitude displacement calculation unit 21.

The position / orientation displacement calculation unit 21 receives the position / attitude information in the state where the work W is currently installed from the three-dimensional information acquisition sensor 15. The position / attitude / displacement calculation unit 21 acquires the three-dimensional model data corresponding to the work W from the pattern storage unit 22, and creates the reference position / attitude data which is the data when the reference position BP is provided with the reference attitude BA. To do. The position / orientation displacement calculation unit 21 calculates the displacement of the position / orientation from the reference position / orientation data of the work W by comparing the reference position / orientation data with the position / orientation information received from the three-dimensional information acquisition sensor 15 (step). S9).
The position / orientation displacement calculation unit 21 transmits the calculated displacement of the position and orientation of the work W to the nozzle movement control unit 23.

The nozzle movement control unit 23 receives the displacement of the position and attitude of the work W from the position / attitude displacement calculation unit 21. Based on this, the nozzle movement control unit 23 corrects the reference operation pattern of the nozzle 13 (step S11), and controls the nozzle movement mechanism 11 based on the corrected reference operation pattern to move the nozzle 13 (step). S13).
In this way, the work W in the processing section S1 is shot processed.

When the shot processing is completed, the nozzle moving mechanism 11 is set to a position and posture that does not interfere with the rotation of the work W, the turntable 3 is rotated, and the shot processed work W is moved to the processing section S1 (step). S15).
After that, the worker M collects the shot-processed work W (step S17).

Next, the effects of the shot processing device 1 and the shot processing method described above will be described.

The shot processing device 1 of the present embodiment is a shot processing device 1 that injects a shot material from a nozzle 13 toward a work W to perform a shot process on the work W, and the nozzle 13 and the nozzle 13 are fixed to each other. The nozzle moving mechanism 11 that can change the position and orientation of the nozzle 13 with respect to the work W, and the three-dimensional information acquisition that acquires the position and orientation information of the work W by three-dimensionally imaging the work W provided in the processing section S1. A pattern storage unit 22 and a tertiary of the work W, which are provided with the sensor 15 and store the reference operation pattern of the nozzle 13 when the work W is installed in the reference position BP and the reference posture BA in the processing section S1. The position / orientation information acquired by the model data storage unit 20 in which the original model data is stored, the 3D information acquisition sensor 15, and the reference position / orientation when the 3D model data is provided in the reference position BP in the reference attitude BA. The reference operation pattern of the nozzle 13 is corrected based on the position / orientation displacement calculation unit 21 that compares the data with the data and calculates the displacement of the position / orientation from the reference position / orientation data of the work W, and the displacement of the position / orientation. A nozzle movement control unit 23 that controls the nozzle movement mechanism 11 to move the nozzle 13 based on the corrected reference operation pattern is further provided.
Further, the shot processing method of the present embodiment is a shot processing method in which the shot material is injected from the nozzle 13 toward the work W to perform the shot processing of the work W, and the work W is the reference position BP in the processing section S1. And when installed in the reference posture BA, the nozzle 13 is fixed, and the reference operation pattern of the nozzle 13 is stored by the nozzle moving mechanism 11 that can change the position and posture of the nozzle 13 with respect to the work W, and the tertiary of the work W is stored. The position and orientation information of the work W is acquired by the three-dimensional information acquisition sensor 15 that stores the original model data and three-dimensionally images the work W provided in the processing section S1, and is acquired by the three-dimensional information acquisition sensor 15. The position and orientation information is compared with the reference position and orientation data when the three-dimensional model data is provided in the reference position BP by the reference attitude BA, and the displacement of the position and orientation of the work W from the reference position and orientation data is calculated. , The reference operation pattern of the nozzle 13 is corrected based on the displacement of the position and posture, and the nozzle movement mechanism 11 is controlled based on the corrected reference operation pattern to move the nozzle 13.
According to the above configuration and method, the reference position / orientation data when the three-dimensional model data of the work W is provided at the reference position BP in the reference attitude BA and the reference position / orientation data are captured and acquired by the three-dimensional information acquisition sensor 15. The position / orientation information of the work W is provided with three-dimensional information in the processing section S1 space. Therefore, by comparing the position / orientation information of the work W acquired by the three-dimensional information acquisition sensor 15 with the reference position / orientation data, the position / orientation information on the plane orthogonal to the straight line L connecting the three-dimensional information acquisition sensor 15 and the work W Not only the displacement of the position and inclination of the work W, but also the displacement of the position and inclination of the work W in the extending direction of the straight line L can be calculated.
Based on the displacement of the position and orientation calculated in this way, the reference operation pattern of the nozzle 13 when the work W is installed in the reference position BP and the reference posture BA in the processing section S1 is corrected and corrected. The nozzle moving mechanism 11 moves the nozzle 13 based on the reference operation pattern. Therefore, the work W is installed at a position shifted to the three-dimensional information acquisition sensor 15 side, that is, to the side where the nozzle moving mechanism 11 is located, in the extending direction of the straight line L connecting the three-dimensional information acquisition sensor 15 and the work W. Even when the nozzle 13 is tilted or tilted, the nozzle 13 can be brought close to the work W for shot processing while suppressing the collision between the nozzle 13 and the work W.

At a position where the work W is displaced in the extending direction of the straight line L connecting the three-dimensional information acquisition sensor 15 and the work W, on the side away from the three-dimensional information acquisition sensor 15, that is, in the direction opposite to the nozzle moving mechanism 11. If the position of the nozzle 13 is not corrected when the work 13 is installed or tilted, the distance between the work 13 and the nozzle W will be longer than necessary. Since the range of the surface of the work W to be shot increases as the tip 13b of the nozzle 13 moves away from the work W, the shot processing of the work W is not required or the shot processing is desired in the above cases. There is a possibility that the shot material may be scattered and shot processed even in places where there is no shot material.
According to the above configuration, even if the work W is installed at a displaced position or tilted on the side away from the three-dimensional information acquisition sensor 15, the distance between the work W and the nozzle 13 is separated. The position of the nozzle 13 can be corrected so as to reduce the distance. Therefore, it is possible to suppress shot processing to a location that does not require shot processing.

As described above, the shot processing device 1 of the present embodiment can appropriately correct the position of the nozzle 13 even when the work W is installed at a displaced position or tilted. In other words, the worker M does not strictly install the work W so that it is located at the reference position BP and the reference posture BA, but dares to displace it from the reference position BP and the reference posture BA, for example. It is shown that even if the work W is installed, the shot processing device 1 can appropriately perform shot processing of the work W. Therefore, the worker M does not have to pay excessive attention to the alignment of the work W when installing the work W on the turntable 3. Therefore, according to the above configuration, the workability of the work W installation work is improved.

Further, a hole Wb is formed in the work W, and the reference operation pattern is constructed so as to perform shot processing inside the hole Wb.
According to the above configuration, the nozzle 13 can be positioned close to the hole Wb of the work W so as not to collide with the work W. Therefore, the inside of the hole Wb of the work W can be effectively shot.

Further, the reference operation pattern includes the spatial coordinate values P1 and P2 of the shot processing positions P1 and P2 set corresponding to the hole Wb when the hole Wb is shot processed, and the nozzle 13 at the shot processing positions P1 and P2. The posture angles A1 and A2 are registered, and the nozzle movement control unit 23 corrects the spatial coordinate values P1 and P2 of the shot processing positions P1 and P2 and the posture angles A1 and A2 based on the displacement of the position and posture. The nozzle 13 is moved to the corrected spatial coordinate values P1c and P2c and the position and orientation of the attitude angles A1c and A2c.
According to the above configuration, it is possible to effectively suppress the collision between the nozzle 13 and the work W.

Further, the nozzle 13 is formed to be long, and the spatial coordinate values P1 and P2 and the posture angles A1 and A2 are corrected so that the central axis ND of the nozzle 13 coincides with the central axis PC of the hole Wb.
According to the above configuration, the spatial coordinate values P1 and P2 of the shot processing positions P1 and P2 and the posture angle so that the central axis ND of the elongated nozzle 13 coincides with the central axis PC of the hole Wb. A1 and A2 are corrected. Therefore, even if the nozzle 13 is inserted into and removed from the hole Wb in a state where the nozzle 13 is positioned at the spatial coordinate values P1c and P2c corrected in this way and the attitude angles A1c and A2c, the nozzle 13 collides with the hole Wb. It's hard to do.

As described in the above embodiment, for example, it may be necessary to insert the nozzle 13 having an outer diameter of 7 mm into a hole Wb having an inner diameter of 9 mm to a depth of 150 mm. In this case, the clearance between the hole Wb and the nozzle 13 is only 2 mm, and it is basically not easy to insert the nozzle 13 by 150 mm without colliding with the hole Wb in this state.
In the present embodiment, as described above, even if the nozzle 13 is inserted and removed from the hole Wb, the nozzle 13 does not easily collide with the hole Wb, so that the nozzle 13 does not easily collide with the hole Wb under such difficult working conditions. Can also suppress the collision of the nozzle 13 with the hole Wb.

Further, the nozzle 13 includes a cylindrical nozzle body 13a in which the tip 13b is closed, and a through hole 13d for communicating the cylindrical inner I and the outer O is provided on the side surface 13c of the tip 13b.
According to the above configuration, the inner surface of the hole Wb can be effectively shot while the nozzle 13 is inserted into the hole Wb.

Further, the work W is a cylinder block of an internal combustion engine, and the hole Wb is a conduit for circulating cooling water.
According to the above configuration, the water-cooled pipeline of the cylinder block can be effectively shot.

Further, the three-dimensional information acquisition sensor 15 stores the sensor main body 15a, the sensor main body 15a and isolates it from the outside, and opens and closes the housing 15b provided with the opening 15d and the opening 15d. The sensor body 15a includes the 15c, the work W is imaged through the opening 15d, and the shutter 15c is opened when the work W is imaged by the sensor body 15a.
According to the above configuration, the housing 15b and the shutter 15c can shield the sensor body 15a from the outside, that is, the dust atmosphere in the cabinet 2 peculiar to the shot blasting process. As a result, the sensor main body 15a can be protected, and false detection and accuracy deterioration due to deterioration of the sensor main body 15a can be suppressed.
Further, since the shutter 15c is provided so as to be opened when the work W is imaged by the sensor body 15a, an obstacle when the work W is imaged while protecting the sensor body 15a as described above. It does not become.

Further, the position / attitude displacement calculation unit 21 detects a defect of the work W by comparing the contour shapes three-dimensionally when comparing the position / attitude information acquired by the three-dimensional information acquisition sensor 15 with the reference position / attitude data. To do.
According to the above configuration, it is possible to detect the defect of the work W with high accuracy and suppress the outflow of the defective work to the subsequent processing.

In particular, in the present embodiment, since this defect detection is executed before the shot processing, it is possible to avoid executing unnecessary shot processing for the defective work W.
Further, for example, by feeding back the defect detection result to a process located before the previous stage of the shot processing device 1, it is possible to trace the cause of the defect.

Further, a plurality of types of work W are configured to be capable of shot processing, and a reference operation pattern and three-dimensional model data are provided corresponding to each of the plurality of types of work W.
According to the above configuration, shot processing can be performed on a plurality of types of work W by switching the data of the work W to be processed.

Further, the input device 17 for receiving the input regarding the type of the work W to be shot processed at the present time among the plurality of types of the work W is provided, and the processing conditions when the shot processing is performed on the work W are set. It is stored corresponding to the work W.
Processing conditions such as the movement path of the nozzle 13, the insertion speed into the hole Wb, the rotation speed of the nozzle 13, and the injection amount of the shot material can be set depending on the work W.
According to the above configuration, when the type of work W to be shot processed is input by the input device 17, the processing conditions stored corresponding to the type are read out to correspond to the type. Processing conditions can be easily set.

Further, the nozzle moving mechanism 11 is an industrial robot having an arm.
Further, the reference operation pattern is a program created by teaching.
According to the above configuration, the shot processing device 1 and the shot processing method as described above can be appropriately realized.

The shot processing apparatus 1 and the shot processing method of the present invention are not limited to the above-described embodiments described with reference to the drawings, and various other modifications can be considered within the technical scope thereof.

For example, in the above embodiment, the work W is a cylinder block, but it goes without saying that the work W does not have to be a cylinder block.
In particular, in the above embodiment, the shot processing device 1 performs shot processing inside the hole Wb of the work W, but the present invention is not limited to this. Needless to say, for example, it can be applied to a surface having a shape that is difficult for the shot material to reach in normal shot processing, such as a recess or a recess formed on the surface of the work W. In the above embodiment, the long nozzle 13 is used, but when the target of the shot processing is not the hole Wb, the shape and form of the nozzle 13 may be appropriately changed according to the shape of the target of the shot processing. Can be changed.

Further, in the above embodiment, the nozzle unit 12 includes one nozzle 13 and one servomotor 14, but the present invention is not limited to this. For example, the nozzle unit 12 may include two nozzles 13 and two servomotors 14 corresponding to each of the nozzles 13. In this case, the two nozzles 13 may be provided parallel to each other with an interval equal to the interval between the holes Wb of the work W. As a result, the shot processing device 1 can perform shot processing on the two holes Wb of the work W at the same time, so that the processing efficiency is improved.

Further, in the above embodiment, the tip wall surface 13e of the nozzle 13 is provided so as to be substantially orthogonal to the central axis ND of the nozzle body 13a, but the present invention is not limited to this. For example, the tip wall surface 13e may be provided so as to be inclined with respect to the central axis ND of the nozzle 13 so that the angle φ of the tip wall surface 13e with respect to the central axis ND of the nozzle 13 is, for example, 45 °.
For example, when the angle φ is set as an acute angle in this way, the shot material traveling with the internal I of the nozzle body 13a toward the tip wall surface 13e collides with the tip wall surface 13e and then moves toward the diagonally forward OD. It may be easier.

Further, in the above embodiment, the three-dimensional information acquisition sensor 15 is provided on the second wall 2b of the cabinet 2 opposite to the first wall 2a on which the turntable 3 is provided, but instead of this, the nozzle It may be provided at any position of the arm of the industrial robot constituting the moving mechanism 11. In this case, when the three-dimensional information acquisition sensor 15 images the work W, the arm of the nozzle moving mechanism 11 is moved to a predetermined imaging position and imaging posture.

Further, in the above embodiment, when the displacement of the position and orientation of the work W is explained with reference to FIGS. 8 to 11, the case where the work W moves and rotates in the plane constituting the upper surface 3a of the turntable 3 I explained mainly, but it is not limited to this. For example, the lower surface of the work W is partially separated from the upper surface 3a so that the upper side of the work W approaches or separates from the three-dimensional information acquisition sensor 15, and the work W is tilted with respect to the upper surface 3a. Needless to say, even in such a case, the position and orientation of the nozzle 13 can be adjusted by the same processing as in the above embodiment.

Further, in the above embodiment, the type of the work W to be shot processed is specified by the manual input of the worker M to the input device 17, but the present invention is not limited to this. For example, a camera that reads a 3D shape, a two-dimensional bar code reader that reads a two-dimensional bar code provided on the work W, or the like may be used as the input device 17 to automatically determine the type of the work W. ..
In this case, the three-dimensional information acquisition sensor 15 may function as a camera that reads the above-mentioned 3D shape. That is, when the three-dimensional information acquisition sensor 15 acquires the position / orientation information of the work W, the shape of the work W is identified, and the type of the work W is compared with each of the models stored in the model data storage unit 20. May be specified.

In addition to this, as long as the gist of the present invention is not deviated, the configurations listed in the above embodiments can be selected or changed to other configurations as appropriate.

1 Shot processing device 2 Cabinet 3 Turntable 3c Positioning member 11 Nozzle movement mechanism 13 Nozzle 13a Nozzle body 13b Tip 13c Side surface 13d Through hole 15 Three-dimensional information acquisition sensor 15a Sensor body 15b Housing 15c Shutter 15d Opening 16 Control device 17 Input Device 20 Model data storage unit 21 Position / posture / displacement calculation unit 22 Pattern storage unit 23 Nozzle movement control unit S1 Processing section S2 Installation section W Work Wb Hole PC Hole center axis ND Nozzle center axis I Nozzle inside O Nozzle outside P1 , P2 Shot processing position, Spatial coordinate value of shot processing position P1c, P2c Corrected shot processing position A1, A2 Posture angle A1c, A2c Corrected posture angle BP Reference position BA Reference posture

Claims (13)

A shot processing device that injects a shot material from a nozzle toward a work to perform shot processing on the work.
With the nozzle
A nozzle movement mechanism in which the nozzle is fixed and the position and orientation of the nozzle with respect to the work can be changed.
A three-dimensional information acquisition sensor that three-dimensionally images the work provided in the processing section and acquires the position / orientation information of the work.
With
A pattern storage unit that stores a reference operation pattern of the nozzle when the work is installed at a reference position and a reference posture in the processing section.
A model data storage unit that stores the three-dimensional model data of the work, and
The position / orientation information acquired by the three-dimensional information acquisition sensor is compared with the reference position / orientation data when the three-dimensional model data is provided at the reference position in the reference attitude, and the reference position of the work is compared. The position-posture displacement calculation unit, which calculates the displacement of the position-posture from the posture data,
A nozzle movement control unit that corrects the reference operation pattern of the nozzle based on the displacement of the position and orientation, controls the nozzle movement mechanism based on the corrected reference operation pattern, and moves the nozzle.
A shot processing device that is further equipped with. The shot processing apparatus according to claim 1, wherein a hole is formed in the work, and the reference operation pattern is constructed so as to perform shot processing inside the hole. In the reference operation pattern, the spatial coordinate value of the shot processing position set corresponding to the hole when the hole is shot processed and the posture angle of the nozzle at the shot processing position are registered.
The nozzle movement control unit corrects the spatial coordinate value of the shot processing position and the posture angle based on the displacement of the position and orientation, and adjusts the corrected spatial coordinate value and the position and orientation of the posture angle to the position and orientation. The shot processing apparatus according to claim 2, wherein the nozzle is moved. The shot processing apparatus according to claim 3, wherein the nozzle is formed to be long, and the spatial coordinate value and the posture angle are corrected so that the central axis of the nozzle coincides with the central axis of the hole. Any of claims 2 to 4, wherein the nozzle includes a cylindrical nozzle body having a closed tip, and a through hole for communicating the inside and the outside of the cylinder is provided on the side surface of the tip. The shot processing apparatus according to one item. The shot processing device according to any one of claims 2 to 5, wherein the work is a cylinder block of an internal combustion engine, and the hole is a pipeline for circulating cooling water. The three-dimensional information acquisition sensor includes a sensor body, a housing that houses the sensor body and isolates it from the outside, and has an opening, and a shutter that opens and closes the opening.
The sensor body images the work through the opening, and the sensor body captures the image.
The shot processing device according to any one of claims 1 to 6, wherein the shutter is opened when the work is imaged by the sensor body. When comparing the position / posture information acquired by the three-dimensional information acquisition sensor with the reference position / posture data, the position / posture / displacement calculation unit detects defects in the work by comparing the contour shapes three-dimensionally. The shot processing apparatus according to any one of claims 1 to 7. Any of claims 1 to 8, wherein a plurality of types of the work can be shot processed, and the reference operation pattern and the three-dimensional model data are provided corresponding to each of the plurality of types of the work. The shot processing apparatus according to the first paragraph. It is provided with an input device that receives an input regarding the type of the work that is currently the target of shot processing among the plurality of types of works.
The shot processing apparatus according to claim 9, wherein the processing conditions when the shot processing is performed on the work are stored corresponding to the work. The shot processing device according to any one of claims 1 to 10, wherein the nozzle moving mechanism is an industrial robot having an arm. The shot processing apparatus according to claim 11, wherein the reference operation pattern is a program created by teaching. It is a shot processing method in which a shot material is ejected from a nozzle toward a work and the work is shot.
When the work is installed in the reference position and the reference posture in the processing section, the reference operation pattern of the nozzle is determined by the nozzle movement mechanism in which the nozzle is fixed and the position and the posture of the nozzle with respect to the work can be changed. Store and
Stores the 3D model data of the work,
The position and orientation information of the work is acquired by a three-dimensional information acquisition sensor that three-dimensionally images the work provided in the processing section.
The position / orientation information acquired by the three-dimensional information acquisition sensor is compared with the reference position / orientation data when the three-dimensional model data is provided at the reference position in the reference attitude, and the reference position of the work is compared. Calculate the displacement of the position and attitude from the attitude data,
A shot processing method in which the reference operation pattern of the nozzle is corrected based on the displacement of the position and orientation, and the nozzle movement mechanism is controlled based on the corrected reference operation pattern to move the nozzle.

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